DE2442865C3 - Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges - Google Patents

Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges

Info

Publication number
DE2442865C3
DE2442865C3 DE2442865A DE2442865A DE2442865C3 DE 2442865 C3 DE2442865 C3 DE 2442865C3 DE 2442865 A DE2442865 A DE 2442865A DE 2442865 A DE2442865 A DE 2442865A DE 2442865 C3 DE2442865 C3 DE 2442865C3
Authority
DE
Germany
Prior art keywords
actuator
stop
tracking
load
auxiliary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
DE2442865A
Other languages
German (de)
English (en)
Other versions
DE2442865A1 (de
DE2442865B2 (de
Inventor
Holger 2300 Klausdorf Scheler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Blohm and Voss GmbH
Original Assignee
Hagenuk Vormals Neufeldt & Kuhnke 2300 Kiel GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hagenuk Vormals Neufeldt & Kuhnke 2300 Kiel GmbH filed Critical Hagenuk Vormals Neufeldt & Kuhnke 2300 Kiel GmbH
Priority to DE2442865A priority Critical patent/DE2442865C3/de
Priority to CH1023675A priority patent/CH609274A5/xx
Priority to US05/607,431 priority patent/US4015721A/en
Priority to GB35163/75A priority patent/GB1498485A/en
Priority to IT09531/75A priority patent/IT1050838B/it
Priority to JP10685175A priority patent/JPS5652717B2/ja
Priority to SU752172428A priority patent/SU820651A3/ru
Priority to CA234,870A priority patent/CA1033156A/en
Priority to FR7527333A priority patent/FR2283760A1/fr
Priority to PL1975183132A priority patent/PL111708B1/pl
Priority to BR7505718*A priority patent/BR7505718A/pt
Priority to SE7509907A priority patent/SE419194B/xx
Publication of DE2442865A1 publication Critical patent/DE2442865A1/de
Publication of DE2442865B2 publication Critical patent/DE2442865B2/de
Application granted granted Critical
Publication of DE2442865C3 publication Critical patent/DE2442865C3/de
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Braking Arrangements (AREA)
DE2442865A 1974-09-06 1974-09-06 Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges Expired DE2442865C3 (de)

Priority Applications (12)

Application Number Priority Date Filing Date Title
DE2442865A DE2442865C3 (de) 1974-09-06 1974-09-06 Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges
CH1023675A CH609274A5 (US07122603-20061017-C00045.png) 1974-09-06 1975-08-06
US05/607,431 US4015721A (en) 1974-09-06 1975-08-25 Programmable device for mechanically executing work processes
GB35163/75A GB1498485A (en) 1974-09-06 1975-08-26 Work-handling apparatus
JP10685175A JPS5652717B2 (US07122603-20061017-C00045.png) 1974-09-06 1975-09-02
SU752172428A SU820651A3 (ru) 1974-09-06 1975-09-02 Устройство дл позиционировани РАбОчЕгО ОРгАНА
IT09531/75A IT1050838B (it) 1974-09-06 1975-09-02 Dispositivo programmabile per l esecuzione meccanica di passate di lavoro ed altro
CA234,870A CA1033156A (en) 1974-09-06 1975-09-05 Apparatus for mechanized manufacturing operations
FR7527333A FR2283760A1 (fr) 1974-09-06 1975-09-05 Dispositif programmable pour execution mecanique d'operations de travail
PL1975183132A PL111708B1 (en) 1974-09-06 1975-09-05 Arrangement for rapidly shifting and accurately positioning a weight-type adjustment member along a predetermined path
BR7505718*A BR7505718A (pt) 1974-09-06 1975-09-05 Dispositivo programavel aperfeicoado para execucao mecanica de estagios de trabalho
SE7509907A SE419194B (sv) 1974-09-06 1975-09-05 Anordning, speciellt manipulator, for snabb rorelse och noggrann instellning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2442865A DE2442865C3 (de) 1974-09-06 1974-09-06 Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges

Publications (3)

Publication Number Publication Date
DE2442865A1 DE2442865A1 (de) 1976-03-25
DE2442865B2 DE2442865B2 (de) 1978-11-02
DE2442865C3 true DE2442865C3 (de) 1979-07-05

Family

ID=5925112

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2442865A Expired DE2442865C3 (de) 1974-09-06 1974-09-06 Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges

Country Status (12)

Country Link
US (1) US4015721A (US07122603-20061017-C00045.png)
JP (1) JPS5652717B2 (US07122603-20061017-C00045.png)
BR (1) BR7505718A (US07122603-20061017-C00045.png)
CA (1) CA1033156A (US07122603-20061017-C00045.png)
CH (1) CH609274A5 (US07122603-20061017-C00045.png)
DE (1) DE2442865C3 (US07122603-20061017-C00045.png)
FR (1) FR2283760A1 (US07122603-20061017-C00045.png)
GB (1) GB1498485A (US07122603-20061017-C00045.png)
IT (1) IT1050838B (US07122603-20061017-C00045.png)
PL (1) PL111708B1 (US07122603-20061017-C00045.png)
SE (1) SE419194B (US07122603-20061017-C00045.png)
SU (1) SU820651A3 (US07122603-20061017-C00045.png)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH586180A5 (en) * 1973-07-26 1977-03-31 American Cyanamid Co Triamcinolone acetonide 21-valerate - as antiinflammatory agent for topical use
AT363298B (de) * 1978-12-18 1981-07-27 Igm Ind Geraete Maschf Gmbh Schweissautomat
EP0000877B1 (de) * 1977-08-31 1983-05-18 Grisebach, Hans-Theodor Manipulator zum Positionieren von Werkstücken oder anderen Lasten
DE2757629A1 (de) * 1977-12-23 1979-07-05 Schuler Gmbh L Entladevorrichtung fuer eine presse
AU3202477A (en) * 1977-12-30 1979-07-05 Seiko Instr & Electronics Handling apparatus
DE2800381A1 (de) * 1978-01-05 1979-07-12 Schuler Gmbh L Beladeeinrichtung fuer eine presse
US4260324A (en) * 1979-04-11 1981-04-07 Emerson Electric Co. Cam-actuated swing turnover and transfer placing apparatus
GB2099350B (en) * 1981-04-23 1985-05-01 Honda Motor Co Ltd Robot type welding apparatus
GB2107903B (en) * 1981-09-23 1985-07-17 Copperweld Robotics Inc Mechanical handling apparatus
JPS5898193U (ja) * 1981-12-25 1983-07-04 株式会社岡村製作所 工業用ロボツトア−ムの多点停止装置
JPS5981094A (ja) * 1982-11-02 1984-05-10 株式会社日立製作所 自動機械
JPS59107897A (ja) * 1982-11-10 1984-06-22 リットン・ユー・ケイ・リミテッド ブレ−キ装置
DE3244019C2 (de) * 1982-11-27 1985-10-24 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-Roboter
DE3312862A1 (de) * 1983-04-09 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
FR2545750B1 (fr) * 1983-05-09 1985-07-05 Microbo Sa Robot equipe d'un systeme de verrouillage
EP0125559A1 (fr) * 1983-05-06 1984-11-21 Microbo S.A. Robot équipé d'un système de verrouillage
US4632632A (en) * 1983-08-30 1986-12-30 Automation Equipment Company Programmable industrial robot having simplified construction
US4547120A (en) * 1983-10-07 1985-10-15 Nordson Corporation Manipulator robot
JPS6158603A (ja) * 1984-08-29 1986-03-25 ワイケイケイ株式会社 フアスナ−チエ−ン送りグリツパ−
FR2579576B1 (fr) * 1985-04-02 1987-06-12 Weil Sarl Ets Robot manipulateur pour tissus
DE3702494A1 (de) * 1987-01-26 1988-08-04 Mannesmann Ag Dreh- und schwenkeinheit
JPS63191585A (ja) * 1987-01-31 1988-08-09 フアナツク株式会社 ダイレクト・ドライブ型多関節ロボツト
GB8702618D0 (en) * 1987-02-05 1987-03-11 Dynapert Precima Ltd Suction pick-up apparatus
FI89384C (fi) * 1987-06-16 1993-09-27 Ichikawa Woolen Textile Automatisk vaexelanordning foer en vaeftspole
US4951517A (en) * 1987-10-28 1990-08-28 Canon Kabushiki Kaisha Rotational driving apparatus with frictional engagement and robot using the same
DE4410401A1 (de) * 1994-03-26 1995-09-28 Adolf Schnell Handgetriebe
US5927932A (en) * 1997-10-24 1999-07-27 Cascade Corporation Clamp assembly with automatic rotation control
US6450755B1 (en) * 1998-07-10 2002-09-17 Equipe Technologies Dual arm substrate handling robot with a batch loader
JP4770856B2 (ja) * 2008-03-21 2011-09-14 トヨタ自動車株式会社 移送用ロボット
US8568079B2 (en) * 2012-02-15 2013-10-29 Cascade Corporation Rotator braking system for a lift truck load handler
CN103286779A (zh) * 2013-05-15 2013-09-11 上海恒动汽车电池有限公司 抓放锂电池机械手
DE102013012448A1 (de) 2013-07-26 2015-01-29 Kuka Laboratories Gmbh Verfahren und Vorrichtung zum Bremsen einer Roboterachsanordnung
CN107053241A (zh) * 2017-06-21 2017-08-18 太仓望虞机械科技有限公司 一种结构加强的机械手臂
CN107309907B (zh) * 2017-07-03 2024-02-09 深圳市优必选科技有限公司 机器人关节限位结构及机器人
CN108942993B (zh) * 2018-10-17 2024-03-22 安徽理工大学 一种机械控制式自动下料机械手

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3212649A (en) * 1960-07-15 1965-10-19 American Mach & Foundry Machine for performing work
JPS5237661B2 (US07122603-20061017-C00045.png) * 1972-04-05 1977-09-24
US3935950A (en) * 1973-09-04 1976-02-03 Quality Steel Fabricators, Inc. Industrial robot

Also Published As

Publication number Publication date
DE2442865A1 (de) 1976-03-25
SE7509907L (sv) 1976-03-08
BR7505718A (pt) 1976-08-03
JPS5652717B2 (US07122603-20061017-C00045.png) 1981-12-14
JPS5155564A (US07122603-20061017-C00045.png) 1976-05-15
CH609274A5 (US07122603-20061017-C00045.png) 1979-02-28
GB1498485A (en) 1978-01-18
SU820651A3 (ru) 1981-04-07
FR2283760A1 (fr) 1976-04-02
DE2442865B2 (de) 1978-11-02
US4015721A (en) 1977-04-05
FR2283760B1 (US07122603-20061017-C00045.png) 1980-12-19
CA1033156A (en) 1978-06-20
PL111708B1 (en) 1980-09-30
IT1050838B (it) 1981-03-20
SE419194B (sv) 1981-07-20

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Legal Events

Date Code Title Description
C3 Grant after two publication steps (3rd publication)
EGA New person/name/address of the applicant
8327 Change in the person/name/address of the patent owner

Owner name: BLOHM + VOSS AG, 2000 HAMBURG, DE